Class GyroIOPigeon2

java.lang.Object

com.stuypulse.robot.subsystems.swerve.GyroIOPigeon2

All Implemented Interfaces:

GyroIO

public class GyroIOPigeon2
extends Object
implements GyroIO

IO implementation for Pigeon 2.

Nested Class Summary

Nested classes/interfaces inherited from interface GyroIO

GyroIO.GyroIOInputs

Field Summary

Fields

Modifier and Type	Field	Description
private final com.ctre.phoenix6.hardware.Pigeon2	pigeon
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle>	yaw
private final Queue<Double>	yawPositionQueue
private final Queue<Double>	yawTimestampQueue
private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.AngularVelocity>	yawVelocity

Constructor Summary

Constructors

Constructor	Description
GyroIOPigeon2()

Method Summary

Modifier and Type	Method	Description
void	updateInputs(GyroIO.GyroIOInputs inputs)

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

pigeon

private final com.ctre.phoenix6.hardware.Pigeon2 pigeon

yaw

private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.Angle> yaw

yawPositionQueue

private final Queue<Double> yawPositionQueue

yawTimestampQueue

private final Queue<Double> yawTimestampQueue

yawVelocity

private final com.ctre.phoenix6.StatusSignal<org.wpilib.units.measure.AngularVelocity> yawVelocity

Constructor Details

GyroIOPigeon2

public GyroIOPigeon2()

Method Details

updateInputs

public void updateInputs(GyroIO.GyroIOInputs inputs)

Specified by:

updateInputs in interface GyroIO